US2025068176A1PendingUtilityA1
Control device and method for trajectory planning of turning motion of legged robot and computer-readable storage medium
Est. expiryAug 23, 2043(~17.1 yrs left)· nominal 20-yr term from priority
Inventors:Bo Tao
G05D 2109/12B62D 57/032G05D 1/43
58
PatentIndex Score
0
Cited by
0
References
0
Claims
Abstract
A method for trajectory planning of a turning motion of a spider-type quadruped robot includes: acquiring a desired turning angle of the spider-type quadruped robot in a floating base coordinate system during a current gait cycle; calculating a desired displacement for each support leg of the spider-type quadruped robot in the floating base coordinate system during the current gait cycle based on the desired turning angle; and performing discrete trajectory planning in the floating base coordinate system based on the desired displacements of the support legs, to obtain a desired turning motion trajectory for each of the support legs of the spider-type quadruped robot in the floating base coordinate system during the current gait cycle.
Claims
exact text as granted — not AI-modifiedWhat is claimed is:
1 . A computer-implemented method for trajectory planning of a turning motion of a spider-type quadruped robot, the method comprising:
acquiring a desired turning angle of the spider-type quadruped robot in a floating base coordinate system during a current gait cycle; calculating a desired displacement for each support leg of the spider-type quadruped robot in the floating base coordinate system during the current gait cycle based on the desired turning angle; and performing discrete trajectory planning in the floating base coordinate system based on the desired displacements of the support legs, to obtain a desired turning motion trajectory for each of the support legs of the spider-type quadruped robot in the floating base coordinate system during the current gait cycle.
2 . The method of claim 1 , wherein a single gait cycle of the spider-type quadruped robot comprises a continuous first diagonal leg support period and a second diagonal leg support period, the first diagonal leg support period is a period when a left front leg and a right hind leg of the spider-type quadruped robot are in a support state, and the second diagonal leg support period is a period when a right front leg and a left hind leg of the spider-type quadruped robot are in a support state; and wherein calculating the desired displacement for each support leg of the spider-type quadruped robot in the floating base coordinate system during the current gait cycle based on the desired turning angle comprises:
determining a target diagonal leg support period to which a current diagonal leg support state of the spider-type quadruped robot belongs in the current gait cycle; based on a hip joint turning displacement calculation strategy that matches the target diagonal leg support period, calculating a target hip joint turning displacement corresponding to the desired turning angle in a world coordinate system of the spider-type quadruped robot; acquiring a target rotation matrix of the floating base coordinate system of the spider-type quadruped robot relative to the world coordinate system when the desired turning angle is achieved; and performing coordinate system conversion on the target hip joint turning displacement according to the target rotation matrix to acquire the desired displacement.
3 . The method of claim 2 , wherein when the target diagonal leg support period is the first diagonal leg support period, the hip joint turning displacement calculation strategy corresponding to the target diagonal leg support period is expressed as follows:
{
Δ
x
(
LF
,
RH
)
=
-
Wid
2
sin
γ
-
Len
2
(
1
-
cos
γ
)
Δ
y
(
LF
,
RH
)
=
Len
2
sin
γ
-
Wid
2
(
1
-
cos
γ
)
;
when the target diagonal leg support period is the second diagonal leg support period, the hip joint turning displacement calculation strategy corresponding to the target diagonal leg support period is expressed as follows:
{
Δ
x
(
RF
,
LH
)
=
-
Wid
2
sin
γ
-
Len
2
(
1
-
cos
γ
)
Δ
y
(
RF
,
LH
)
=
Len
2
sin
γ
+
Wid
2
(
1
-
cos
γ
)
;
where Δx (LF,RH) represents components of turning displacements in a forward direction in the world coordinate system for hip joints corresponding to the left front leg and right hind leg of the spider-type quadruped robot when the left front leg and right hind leg are in the support state, Δy (LF,RH) represents components of turning displacements in a lateral direction in the world coordinate system for hip joints corresponding to the left front leg and right hind leg of the spider-type quadruped robot when the left front leg and right hind leg are in the support state, Δx (RF,LH) represents components of turning displacements in a forward direction in the world coordinate system for hip joints corresponding to the right front leg and left hind leg of the spider-type quadruped robot when the right front leg and left hind leg are in the support state, Δy (RF,LH) represents components of turning displacements in a lateral direction in the world coordinate system for hip joints corresponding to the right front leg and left hind leg of the spider-type quadruped robot when the right front leg and left hind leg are in the support state, γ represents the desired turning angle of the spider-type quadruped robot in the floating base coordinate system during the current gait cycle, Len represents a distance between the hip joints corresponding to the left front leg and the left hind leg of the spider-type quadruped robot, or a distance between the hip joints corresponding to the right front leg and the right hind leg of the spider-type quadruped robot, Wid represents a distance between the hip joints corresponding to the left front leg and the right front leg of the spider-type quadruped robot, or a distance between the hip joints corresponding to the left hind leg and the right hind leg of the spider-type quadruped robot.
4 . The method of claim 2 , wherein the coordinate system conversion is performed according to the following equation: F ΔP foot =−R(γ)· w ΔP hip , where F ΔP foot represents the desired displacement for each support leg of the spider-type quadruped robot in the floating base coordinate system during the current gait cycle, w ΔP hip represents the target hip joint turning displacement corresponding to the desired turning angle in the world coordinate system of the spider-type quadruped robot, R(γ) represents the target rotation matrix of the floating base coordinate system of the spider-type quadruped robot relative to the world coordinate system when the desired turning angle is achieved;
when the target diagonal leg support period is the first diagonal leg support period, w ΔP hip =[Δx (LF,RH) Δy (LF,RH) ] and F ΔP foot =[Δx′ (LF,RH) Δy′ (LF,RH) ] T , where Δx (LF,RH) represents components of turning displacements in a forward direction in the world coordinate system for hip joints corresponding to the left front leg and right hind leg of the spider-type quadruped robot when the left front leg and right hind leg are in the support state, Δy (LF,RH) represents components of turning displacements in a lateral direction in the world coordinate system for hip joints corresponding to the left front leg and right hind leg of the spider-type quadruped robot when the left front leg and right hind leg are in the support state, Δx′ (LF,RH) represents components of desired support leg displacements of the left front leg and the right hind leg of the spider-type quadruped robot in the forward direction in the floating base coordinate system when the left front leg and the right hind leg are in the support state, and Δy′ (LF,RH) represents components of desired support leg displacements of the left front leg and the right hind leg of the spider-type quadruped robot in the lateral direction in the floating base coordinate system when the left front leg and the right hind leg are in the support state;
when the target diagonal leg support period is the second diagonal leg support period, w ΔP hip =[Δx (RF,LH) Δy (RF,LH) ] and F ΔP foot =[Δx′ (RF,LH) Δy′ (RF,LH) ] T , where Δx (RF,LH) represents components of turning displacements in a forward direction in the world coordinate system for hip joints corresponding to the right front leg and left hind leg of the spider-type quadruped robot when the right front leg and left hind leg are in the support state, Δy (RF,LH) represents components of turning displacements in a lateral direction in the world coordinate system for hip joints corresponding to the right front leg and left hind leg of the spider-type quadruped robot when the right front leg and left hind leg are in the support state, Δx′ (RF,LH) represents components of desired support leg displacements of the right front leg and the left hind leg of the spider-type quadruped robot in the forward direction in the floating base coordinate system when the right front leg and the left hind leg are in the support state, Δy′ (RF,LH) represents components of desired support leg displacements of the right front leg and the left hind leg of the spider-type quadruped robot in the lateral direction in the floating base coordinate system when the right front leg and the left hind leg are in the support state.
5 . The method of claim 1 , wherein the desired turning motion trajectories for the support legs of the spider-type quadruped robot comprise desired turning motion trajectories of two current support legs of the spider-type quadruped robot in the current gait cycle in the floating base coordinate system; and wherein performing discrete trajectory planning in the floating base coordinate system based on the desired displacements of the support legs, to obtain the desired turning motion trajectory for each of the support legs of the spider-type quadruped robot in the floating base coordinate system during the current gait cycle, comprises:
determining a target diagonal leg support period to which a current diagonal leg support state of the spider-type quadruped robot belongs in the current gait cycle; constraining the desired displacements for the support legs to the target diagonal leg support period for displacement discretization to obtain a corresponding displacement discretization result; and according to a relative position relationship and a relative motion relationship between the two current support legs of the spider-type quadruped robot, performing trajectory planning on the two support legs based on the displacement discretization result to acquire the desired turning motion trajectories of the two support legs in the current gait cycle in the floating base coordinate system.
6 . The method of claim 1 , further comprising:
performing coordinate system transformation on the desired turning motion trajectory for each of the support legs of the spider-type quadruped robot in the floating base coordinate system during the current gait cycle, to obtain target turning motion trajectories of the support legs of the spider-type quadruped robot in the current gait cycle in the world coordinate system; and performing linear trajectory superposition based on a forward motion trajectory and the target turning motion trajectories of the support legs of the spider-type quadruped robot in the current gait cycle in the world coordinate system, to obtain a desired composite motion trajectory of the spider-type quadruped robot in the current gait cycle in the world coordinate system.
7 . A control device for a spider-type quadruped robot, comprising:
one or more processors; and a memory coupled to the one or more processors, the memory storing programs that, when executed by the one or more processors, cause performance of operations comprising: acquiring a desired turning angle of the spider-type quadruped robot in a floating base coordinate system during a current gait cycle; calculating a desired displacement for each support leg of the spider-type quadruped robot in the floating base coordinate system during the current gait cycle based on the desired turning angle; and performing discrete trajectory planning in the floating base coordinate system based on the desired displacements of the support legs, to obtain a desired turning motion trajectory for each of the support legs of the spider-type quadruped robot in the floating base coordinate system during the current gait cycle.
8 . The control device of claim 7 , wherein a single gait cycle of the spider-type quadruped robot comprises a continuous first diagonal leg support period and a second diagonal leg support period, the first diagonal leg support period is a period when a left front leg and a right hind leg of the spider-type quadruped robot are in a support state, and the second diagonal leg support period is a period when a right front leg and a left hind leg of the spider-type quadruped robot are in a support state; and wherein calculating the desired displacement for each support leg of the spider-type quadruped robot in the floating base coordinate system during the current gait cycle based on the desired turning angle comprises:
determining a target diagonal leg support period to which a current diagonal leg support state of the spider-type quadruped robot belongs in the current gait cycle; based on a hip joint turning displacement calculation strategy that matches the target diagonal leg support period, calculating a target hip joint turning displacement corresponding to the desired turning angle in a world coordinate system of the spider-type quadruped robot; acquiring a target rotation matrix of the floating base coordinate system of the spider-type quadruped robot relative to the world coordinate system when the desired turning angle is achieved; and performing coordinate system conversion on the target hip joint turning displacement according to the target rotation matrix to acquire the desired displacement.
9 . The control device of claim 8 , wherein when the target diagonal leg support period is the first diagonal leg support period, the hip joint turning displacement calculation strategy corresponding to the target diagonal leg support period is expressed as follows:
{
Δ
x
(
LF
,
RH
)
=
-
Wid
2
sin
γ
-
Len
2
(
1
-
cos
γ
)
Δ
y
(
LF
,
RH
)
=
Len
2
sin
γ
-
Wid
2
(
1
-
cos
γ
)
;
when the target diagonal leg support period is the second diagonal leg support period, the hip joint turning displacement calculation strategy corresponding to the target diagonal leg support period is expressed as follows:
{
Δ
x
(
RF
,
LH
)
=
-
Wid
2
sin
γ
-
Len
2
(
1
-
cos
γ
)
Δ
y
(
RF
,
LH
)
=
Len
2
sin
γ
+
Wid
2
(
1
-
cos
γ
)
;
where Δx (LF,RH) represents components of turning displacements in a forward direction in the world coordinate system for hip joints corresponding to the left front leg and right hind leg of the spider-type quadruped robot when the left front leg and right hind leg are in the support state, Δy (LF,RH) represents components of turning displacements in a lateral direction in the world coordinate system for hip joints corresponding to the left front leg and right hind leg of the spider-type quadruped robot when the left front leg and right hind leg are in the support state, Δx (RF,LH) represents components of turning displacements in a forward direction in the world coordinate system for hip joints corresponding to the right front leg and left hind leg of the spider-type quadruped robot when the right front leg and left hind leg are in the support state, Δy (RF,LH) represents components of turning displacements in a lateral direction in the world coordinate system for hip joints corresponding to the right front leg and left hind leg of the spider-type quadruped robot when the right front leg and left hind leg are in the support state, y represents the desired turning angle of the spider-type quadruped robot in the floating base coordinate system during the current gait cycle, Len represents a distance between the hip joints corresponding to the left front leg and the left hind leg of the spider-type quadruped robot, or a distance between the hip joints corresponding to the right front leg and the right hind leg of the spider-type quadruped robot, Wid represents a distance between the hip joints corresponding to the left front leg and the right front leg of the spider-type quadruped robot, or a distance between the hip joints corresponding to the left hind leg and the right hind leg of the spider-type quadruped robot.
10 . The control device of claim 8 , wherein the coordinate system conversion is performed according to the following equation: F ΔP foot =−R(γ)· w ΔP hip , where F ΔP foot represents the desired displacement for each support leg of the spider-type quadruped robot in the floating base coordinate system during the current gait cycle, w ΔP hip represents the target hip joint turning displacement corresponding to the desired turning angle in the world coordinate system of the spider-type quadruped robot, R(γ) represents the target rotation matrix of the floating base coordinate system of the spider-type quadruped robot relative to the world coordinate system when the desired turning angle is achieved;
when the target diagonal leg support period is the first diagonal leg support period, w ΔP hip =[Δx (LF,RH) Δy (LF,RH) ] and F ΔP foot =[Δx′ (LF,RH) Δy′ (LF,RH) ], where Δx (LF,RH) represents components of turning displacements in a forward direction in the world coordinate system for hip joints corresponding to the left front leg and right hind leg of the spider-type quadruped robot when the left front leg and right hind leg are in the support state, Δy (LF,RH) represents components of turning displacements in a lateral direction in the world coordinate system for hip joints corresponding to the left front leg and right hind leg of the spider-type quadruped robot when the left front leg and right hind leg are in the support state, Δx′ (LF,RH) represents components of desired support leg displacements of the left front leg and the right hind leg of the spider-type quadruped robot in the forward direction in the floating base coordinate system when the left front leg and the right hind leg are in the support state, and Δy′ (LF,RH) represents components of desired support leg displacements of the left front leg and the right hind leg of the spider-type quadruped robot in the lateral direction in the floating base coordinate system when the left front leg and the right hind leg are in the support state;
when the target diagonal leg support period is the second diagonal leg support period, w ΔP hip =[Δx (RF,LH) Δy (RF,LH) ] T and F ΔP foot =[Δx′ (RF,LH) Δy′ (RF,LH) ]′, where Δx (RF,LH) represents components of turning displacements in a forward direction in the world coordinate system for hip joints corresponding to the right front leg and left hind leg of the spider-type quadruped robot when the right front leg and left hind leg are in the support state, Δy (RF,LH) represents components of turning displacements in a lateral direction in the world coordinate system for hip joints corresponding to the right front leg and left hind leg of the spider-type quadruped robot when the right front leg and left hind leg are in the support state, Δx′ (RF,LH) represents components of desired support leg displacements of the right front leg and the left hind leg of the spider-type quadruped robot in the forward direction in the floating base coordinate system when the right front leg and the left hind leg are in the support state, Δy′ (RF,LH) represents components of desired support leg displacements of the right front leg and the left hind leg of the spider-type quadruped robot in the lateral direction in the floating base coordinate system when the right front leg and the left hind leg are in the support state.
11 . The control device of claim 7 , wherein the desired turning motion trajectories for the support legs of the spider-type quadruped robot comprise desired turning motion trajectories of two current support legs of the spider-type quadruped robot in the current gait cycle in the floating base coordinate system; and wherein performing discrete trajectory planning in the floating base coordinate system based on the desired displacements of the support legs, to obtain the desired turning motion trajectory for each of the support legs of the spider-type quadruped robot in the floating base coordinate system during the current gait cycle, comprises:
determining a target diagonal leg support period to which a current diagonal leg support state of the spider-type quadruped robot belongs in the current gait cycle; constraining the desired displacements for the support legs to the target diagonal leg support period for displacement discretization to obtain a corresponding displacement discretization result; and according to a relative position relationship and a relative motion relationship between the two current support legs of the spider-type quadruped robot, performing trajectory planning on the two support legs based on the displacement discretization result to acquire the desired turning motion trajectories of the two support legs in the current gait cycle in the floating base coordinate system.
12 . The control device of claim 7 , wherein the operations further comprise:
performing coordinate system transformation on the desired turning motion trajectory for each of the support legs of the spider-type quadruped robot in the floating base coordinate system during the current gait cycle, to obtain target turning motion trajectories of the support legs of the spider-type quadruped robot in the current gait cycle in the world coordinate system; and performing linear trajectory superposition based on a forward motion trajectory and the target turning motion trajectories of the support legs of the spider-type quadruped robot in the current gait cycle in the world coordinate system, to obtain a desired composite motion trajectory of the spider-type quadruped robot in the current gait cycle in the world coordinate system.
13 . A non-transitory computer-readable storage medium storing instructions that, when executed by at least one processor of a control device for a spider-type quadruped robot, cause the at least one processor to perform a method for controlling the spider-type quadruped robot, the method comprising:
acquiring a desired turning angle of the spider-type quadruped robot in a floating base coordinate system during a current gait cycle; calculating a desired displacement for each support leg of the spider-type quadruped robot in the floating base coordinate system during the current gait cycle based on the desired turning angle; and performing discrete trajectory planning in the floating base coordinate system based on the desired displacements of the support legs, to obtain a desired turning motion trajectory for each of the support legs of the spider-type quadruped robot in the floating base coordinate system during the current gait cycle.
14 . The non-transitory computer-readable storage medium of claim 13 , wherein a single gait cycle of the spider-type quadruped robot comprises a continuous first diagonal leg support period and a second diagonal leg support period, the first diagonal leg support period is a period when a left front leg and a right hind leg of the spider-type quadruped robot are in a support state, and the second diagonal leg support period is a period when a right front leg and a left hind leg of the spider-type quadruped robot are in a support state; and wherein calculating the desired displacement for each support leg of the spider-type quadruped robot in the floating base coordinate system during the current gait cycle based on the desired turning angle comprises:
determining a target diagonal leg support period to which a current diagonal leg support state of the spider-type quadruped robot belongs in the current gait cycle; based on a hip joint turning displacement calculation strategy that matches the target diagonal leg support period, calculating a target hip joint turning displacement corresponding to the desired turning angle in a world coordinate system of the spider-type quadruped robot; acquiring a target rotation matrix of the floating base coordinate system of the spider-type quadruped robot relative to the world coordinate system when the desired turning angle is achieved; and performing coordinate system conversion on the target hip joint turning displacement according to the target rotation matrix to acquire the desired displacement.
15 . The non-transitory computer-readable storage medium of claim 14 , wherein when the target diagonal leg support period is the first diagonal leg support period, the hip joint turning displacement calculation strategy corresponding to the target diagonal leg support period is expressed as follows:
{
Δ
x
(
LF
,
RH
)
=
-
Wid
2
sin
γ
-
Len
2
(
1
-
cos
γ
)
Δ
y
(
LF
,
RH
)
=
Len
2
sin
γ
-
Wid
2
(
1
-
cos
γ
)
;
when the target diagonal leg support period is the second diagonal leg support period, the hip joint turning displacement calculation strategy corresponding to the target diagonal leg support period is expressed as follows:
{
Δ
x
(
RF
,
LH
)
=
-
Wid
2
sin
γ
-
Len
2
(
1
-
cos
γ
)
Δ
y
(
RF
,
LH
)
=
Len
2
sin
γ
+
Wid
2
(
1
-
cos
γ
)
;
where Δx (LF,RH) represents components of turning displacements in a forward direction in the world coordinate system for hip joints corresponding to the left front leg and right hind leg of the spider-type quadruped robot when the left front leg and right hind leg are in the support state, Δy (LF,RH) represents components of turning displacements in a lateral direction in the world coordinate system for hip joints corresponding to the left front leg and right hind leg of the spider-type quadruped robot when the left front leg and right hind leg are in the support state, Δx (RF,LH) represents components of turning displacements in a forward direction in the world coordinate system for hip joints corresponding to the right front leg and left hind leg of the spider-type quadruped robot when the right front leg and left hind leg are in the support state, Δy (RF,LH) represents components of turning displacements in a lateral direction in the world coordinate system for hip joints corresponding to the right front leg and left hind leg of the spider-type quadruped robot when the right front leg and left hind leg are in the support state, y represents the desired turning angle of the spider-type quadruped robot in the floating base coordinate system during the current gait cycle, Len represents a distance between the hip joints corresponding to the left front leg and the left hind leg of the spider-type quadruped robot, or a distance between the hip joints corresponding to the right front leg and the right hind leg of the spider-type quadruped robot, Wid represents a distance between the hip joints corresponding to the left front leg and the right front leg of the spider-type quadruped robot, or a distance between the hip joints corresponding to the left hind leg and the right hind leg of the spider-type quadruped robot.
16 . The non-transitory computer-readable storage medium of claim 14 , wherein the coordinate system conversion is performed according to the following equation: F ΔP foot =−R(γ)· w ΔP hip , where F ΔP foot represents the desired displacement for each support leg of the spider-type quadruped robot in the floating base coordinate system during the current gait cycle, w ΔP hip represents the target hip joint turning displacement corresponding to the desired turning angle in the world coordinate system of the spider-type quadruped robot, R(γ) represents the target rotation matrix of the floating base coordinate system of the spider-type quadruped robot relative to the world coordinate system when the desired turning angle is achieved;
when the target diagonal leg support period is the first diagonal leg support period, w ΔP hip =[Δx (LF,RH) Δy (LF,RH) ] T and F ΔP foot =[Δx′ (LF,RH) Δy′ (LF,RH) ], where Δx (LF,RH) represents components of turning displacements in a forward direction in the world coordinate system for hip joints corresponding to the left front leg and right hind leg of the spider-type quadruped robot when the left front leg and right hind leg are in the support state, Δy (LF,RH) represents components of turning displacements in a lateral direction in the world coordinate system for hip joints corresponding to the left front leg and right hind leg of the spider-type quadruped robot when the left front leg and right hind leg are in the support state, Δx′ (LF,RH) represents components of desired support leg displacements of the left front leg and the right hind leg of the spider-type quadruped robot in the forward direction in the floating base coordinate system when the left front leg and the right hind leg are in the support state, and Δy′ (LF,RH) represents components of desired support leg displacements of the left front leg and the right hind leg of the spider-type quadruped robot in the lateral direction in the floating base coordinate system when the left front leg and the right hind leg are in the support state;
when the target diagonal leg support period is the second diagonal leg support period, w ΔP hip =[Δx (RF,LH) Δy (RF,LH) ] T and F ΔP foot =[Δx′ (RF,LH) Δy′ (RF,LH) ], where Δx (RF,LH) represents components of turning displacements in a forward direction in the world coordinate system for hip joints corresponding to the right front leg and left hind leg of the spider-type quadruped robot when the right front leg and left hind leg are in the support state, Δy (RF,LH) represents components of turning displacements in a lateral direction in the world coordinate system for hip joints corresponding to the right front leg and left hind leg of the spider-type quadruped robot when the right front leg and left hind leg are in the support state, Δx′ (RF,LH) represents components of desired support leg displacements of the right front leg and the left hind leg of the spider-type quadruped robot in the forward direction in the floating base coordinate system when the right front leg and the left hind leg are in the support state, Δy′ (RF,LH) represents components of desired support leg displacements of the right front leg and the left hind leg of the spider-type quadruped robot in the lateral direction in the floating base coordinate system when the right front leg and the left hind leg are in the support state.
17 . The non-transitory computer-readable storage medium of claim 13 , wherein the desired turning motion trajectories for the support legs of the spider-type quadruped robot comprise desired turning motion trajectories of two current support legs of the spider-type quadruped robot in the current gait cycle in the floating base coordinate system; and wherein performing discrete trajectory planning in the floating base coordinate system based on the desired displacements of the support legs, to obtain the desired turning motion trajectory for each of the support legs of the spider-type quadruped robot in the floating base coordinate system during the current gait cycle, comprises:
determining a target diagonal leg support period to which a current diagonal leg support state of the spider-type quadruped robot belongs in the current gait cycle; constraining the desired displacements for the support legs to the target diagonal leg support period for displacement discretization to obtain a corresponding displacement discretization result; and according to a relative position relationship and a relative motion relationship between the two current support legs of the spider-type quadruped robot, performing trajectory planning on the two support legs based on the displacement discretization result to acquire the desired turning motion trajectories of the two support legs in the current gait cycle in the floating base coordinate system.
18 . The non-transitory computer-readable storage medium of claim 13 , wherein the method further comprises:
performing coordinate system transformation on the desired turning motion trajectory for each of the support legs of the spider-type quadruped robot in the floating base coordinate system during the current gait cycle, to obtain target turning motion trajectories of the support legs of the spider-type quadruped robot in the current gait cycle in the world coordinate system; and performing linear trajectory superposition based on a forward motion trajectory and the target turning motion trajectories of the support legs of the spider-type quadruped robot in the current gait cycle in the world coordinate system, to obtain a desired composite motion trajectory of the spider-type quadruped robot in the current gait cycle in the world coordinate system.Join the waitlist — get patent alerts
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